CN107199423A - One kind, which is not programmed, exempts from teaching Intelligent welding robot - Google Patents
One kind, which is not programmed, exempts from teaching Intelligent welding robot Download PDFInfo
- Publication number
- CN107199423A CN107199423A CN201710557613.9A CN201710557613A CN107199423A CN 107199423 A CN107199423 A CN 107199423A CN 201710557613 A CN201710557613 A CN 201710557613A CN 107199423 A CN107199423 A CN 107199423A
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- welding
- intelligent
- robot
- code
- weld
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- 238000003466 welding Methods 0.000 title claims abstract description 135
- 238000004891 communication Methods 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims description 39
- 230000011218 segmentation Effects 0.000 claims description 8
- 238000013467 fragmentation Methods 0.000 claims description 7
- 238000006062 fragmentation reaction Methods 0.000 claims description 7
- 238000002224 dissection Methods 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
Exempt from programming Intelligent welding robot the invention discloses a kind of not teaching, concrete scheme includes as follows：XYZ frames, 6 articulated robot structured light sensors, welding gun, Intelligent Weld Controller, man-machine interface handheld terminal, the structured light sensor is arranged on welding gun, the welding gun is arranged on 6 articulated robots, 6 articulated robot is arranged in the XYZ frames, the Intelligent Weld Controller carries out real-time synchronization control, the man-machine interface handheld terminal and Intelligent Weld Controller real-time data communication to XYZ frames and 6 articulated robots；The present invention most prominent feature be exactly the operation of Intelligent welding robot without carrying out path programming to welding workpiece, without teaching, intelligent autonomous welding is directly carried out to the weld seam of single products, the problem of small quantities of product of single-piece can not realize automatic welding is solved.
Description
Technical field
Exempt from programming Intelligent welding robot the present invention relates to field of intelligent control, more particularly to a kind of not teaching.
Background technology
The main applicable industry robot of intelligent equipment for being presently used for welding is integrated, and this welding robot is in welding
Path programming will be carried out before, mainly by teaching or off-line programing mode, programming time length and complexity, therefore be only applicable
In the welding of bulk article, the small quantities of workpiece welding of single-piece is not suitable for.For the small quantities of large-scale rivet welding of such as heavy industry single-piece
Workpiece, this welding robot can not be applied, and all be that, by human weld's operation, labor intensity is big, and efficiency is low, welds matter now
Amount is uneven, and the Occupational Health and Safety problem of workman can not also be ensured.
The content of the invention
The problem of being existed according to prior art, programming Intelligent welding robot, tool are exempted from the invention discloses a kind of not teaching
Body scheme includes as follows：XYZ frames, 6 articulated robots, structured light sensor, welding gun, Intelligent Weld Controller, man-machine interface
Handheld terminal；
The structured light sensor is arranged on welding gun, and the welding gun is arranged on 6 articulated robots, 6 joint machine
Device people is arranged in XYZ frames, and the Intelligent Weld Controller carries out real-time synchronization control to XYZ frames and 6 articulated robots,
The man-machine interface handheld terminal and Intelligent Weld Controller real-time data communication；
The Intelligent Weld Controller includes main control unit, XYZ motion controls processing unit, at 6 articulated robot controls
Manage unit；The main control unit includes structure light sensing processing unit, technique library unit, movement code dissection process unit, logical
News and I/O processing units.
The robot need not carry out path of welding programming before work, without path teaching, directly detect that weld seam is carried out certainly
Dynamicization is welded, and the workflow of the robot is as follows：
S1：Positioning welding starting point and welding posture；It is fixed manually in the absolute coordinate system of above-mentioned Intelligent welding robot
Position workpiece welding starting point and welding posture, set up the Intelligent welding robot absolute coordinate system and workpiece coordinate system it
Between corresponding relation；
S2：Positioning welding fragmentation threshold node；Have individual relative between the welding fragmentation threshold node and welding starting point
Alternate position spike, the alternate position spike has five dimensions of X, Y, Z, A, C, and wherein tri- dimensions of X, Y, Z describe the locus of welding gun, A,
Two dimensions of C describe the welding posture of welding gun；
S3：Examination is tracked and obtained in multiple welding segmented node deposit FIFO；
S4：Return to starting point and start welding；Complete after above-mentioned examination tracking process, directly sequentially taken from welding segmentation FIFO
Obtain a node and be parsed into the welding that G code robot command carries out a small line segment；
S5：Complete the welding of a welding segmentation and update FIFO and memory segment G code；Tied after completing segmentation welding
Structure light sensors obtain next segmented node information deposit FIFO, and the above-mentioned segment information welded is passed through into G generations
Code form is stored in the memory preserved to power-off；
S6：Detect no-welding-seam or reach stopping mark；
S7：Determine whether to carry out multi-layer multi-pass welding；Entering for the complete duplicate paths of G code is segmented according to the welding of storage
The welding job of row multilayer multiple tracks, during multi-layer multi-pass welding, structured light sensor (3) shoots weld groove, passes through intelligence
Technology library cell processing analysis in energy welding controller is finely adjusted required welding procedure.
The Intelligent Weld Controller control process is as follows：The weld groove letter of structure light sensing processing unit processing tracking
Breath stores into welding segment movement code in G code form, and technique library unit is by movement code combination process information, main control unit
G code is resolved into by timesharing interpolation segment data by movement code dissection process unit, described timesharing can be according to technique
Demand status sets the small period；
Main control unit is by communication and I/O processing units simultaneously to XYZ motion controls processing unit and 6 articulated robot controls
Processing unit processed sends above-mentioned timesharing interpolation segment data, realizes the synchronous coordination motion of XYZ frames and 6 articulated robots.
By adopting the above-described technical solution, programming Intelligent welding robot is exempted from a kind of not teaching that the present invention is provided, it is preceding
End structure optical sensor directly detects position while welding feature, and guiding Intelligent Weld Controller coordinates XYZ frames and 6 articulated robots
It is synchronized with the movement, carries out intelligent autonomous welding to weld seam in real time.The present invention most prominent advantage is exactly Intelligent welding robot
Operation, without teaching, intellectuality is directly carried out from main weldering to the weld seam of single products without carrying out path programming to welding workpiece
Connect, solve the problem of small quantities of product of single-piece can not realize automatic welding.
Brief description of the drawings
, below will be to embodiment or existing in order to illustrate more clearly of the embodiment of the present application or technical scheme of the prior art
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments described in application, for those of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of Intelligent welding robot in the present invention；
Fig. 2 is the schematic diagram of Intelligent Weld Controller in the present invention；
Fig. 3 is the workflow diagram of Intelligent welding robot in the present invention.
Embodiment
To make technical scheme and advantage clearer, with reference to the accompanying drawing in the embodiment of the present invention, to this
Technical scheme in inventive embodiments carries out clear complete description：
It is as follows that the specific workflow of programming Intelligent welding robot is exempted from a kind of not teaching as depicted in figs. 1 and 2：
Above-mentioned Intelligent welding robot completes equipment back to zero 511, it is ensured that all operations of Intelligent welding robot are set up
Under one absolute coordinate system；
Positioning welding starting point and welding posture 512, are described in the absolute coordinate system of above-mentioned Intelligent welding robot
The welding starting point and welding posture of workpiece are manuallyd locate, the absolute coordinate system and workpiece for setting up the Intelligent welding robot are sat
Corresponding relation between mark system；
Positioning welding fragmentation threshold node 513, there is individual relative between the welding fragmentation threshold node and welding starting point
Alternate position spike, the alternate position spike has five dimensions of X, Y, Z, A, C, and wherein tri- dimensions of X, Y, Z describe the locus of welding gun 4,
Two dimensions of A, C describe the welding posture of welding gun 4, and above-mentioned alternate position spike describes structured light sensor tracing detection weld groove
Direction and size threshold value, are represented by G code, are designated as G01X (Δ X) Y (Δ Y) Z (Δ Z) A (Δ A) C (Δ C), and G01 is public affairs
The straight line machining code known；
Examination, which is tracked, simultaneously obtains 10 welding segmented nodes deposit FIFO514, and this process description is without welding workpiece 7
CAD diagram paper and path programming, path teaching is carried out without to welding workpiece 7, according to above-mentioned fragmentation threshold node and welding
The direction of the alternate position spike description of initial point, the weld groove of welding workpiece 7 is directly shot by structured light sensor 3, weld seam is detected
The characteristic point of groove compares, find actual welding segmented node and it is upper one welding segmented node alternate position spike, by G code come
Representing one section is needed to weld small line segment, and this G code is stored in the FIFO of a depth 10, and above-mentioned quantity 10 is intended merely to this
Invention description is convenient, and specific embodiment can be relatively suitable arbitrary integer；
Return to starting point and start welding 515, complete after above-mentioned examination tracking process, directly sequentially taken from welding segmentation FIFO
The small line segment of welding that represents of a G code is welded, a node weld is completed, while acquisition next node information is deposited
Enter FIFO, and the nodal information welded is stored 516, the above-mentioned nodal information welded is stored to disconnected by G code form
In the memory that electricity is preserved, if the position of welding workpiece 7 does not change, above-mentioned G code can instruct Intelligent welding machine
Device people carries out repeating processing to weld seam, for example, complete multi-layer multi-pass welding；
Detect no-welding-seam or reach stopping mark 517, Intelligent welding robot of the invention describes a kind of by knot
Structure optical sensor 3 directly shoots the weld groove of welding workpiece 7, to reach the target of soldering joint automatic tracking, the end of this method
Outlet is exactly that the terminal of weld seam or the welding procedure thought reach stopping mark；
Whether multi-layer multi-pass welding 518 is carried out, and the present invention describes a kind of multi-layer multi-pass welding process of practical application,
Welding workpiece 7 has been carried out after a welding process, may also need repeatedly to be welded, welding process each time, weld seam
It is characterized in entirely different, the present invention is automatically performed multi-layer multi-pass welding process for solution, particularly describes above-mentioned welding road
The G code in footpath is represented and stored, by the path of welding G code of storage, can the carry out multilayer multiple tracks of duplicate paths completely
Welding job, during multi-layer multi-pass welding, structured light sensor 3 can equally shoot weld groove, pass through Intelligent welding
The Treatment Analysis of technique library unit 505 in controller 5, to be finely adjusted required welding procedure.
It is Intelligent Weld Controller that programming Intelligent welding robot control core is exempted from a kind of not teaching as shown in Figures 2 and 3
5, control process is as follows：
The weld groove information of the processing tracking of structure light sensing processing unit 504 stores into movement code in G code form,
Movement code combination process information is passed through movement code dissection process unit 506 by technique library unit 505 in main control unit 501
G code movement code is resolved into timesharing interpolation segment data, described timesharing can be set as 1ms according to process requirements situation
Or the small period such as 10ms.Main control unit 501 is by communication and I/O processing units 507 simultaneously at XYZ motion controls
The reason articulated robot control process unit 503 of unit 502 and 6 sends above-mentioned timesharing interpolation segment data, realizes XYZ frames 1
Moved with the synchronous coordination of 6 articulated robots 2.This is different from traditional welding robot with 6 articulated robot control process units
As the mode of main control unit, this is the key that the present invention abandons the path such as teaching programming mode.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (3)
1. programming Intelligent welding robot is exempted from a kind of not teaching, it is characterised in that including：XYZ frames (1), 6 articulated robots
(2), structured light sensor (3), welding gun (4), Intelligent Weld Controller (5), man-machine interface handheld terminal (6)；
The structured light sensor (3) is arranged on welding gun (4), and the welding gun (4) is arranged on 6 articulated robots (2), described
6 articulated robots (2) are arranged on the XYZ frames (1), and the Intelligent Weld Controller (5) is to XYZ frames (1) and 6 joints
Robot (2) carries out real-time synchronization control, the man-machine interface handheld terminal (6) and Intelligent Weld Controller (5) real time data
Communication；
The Intelligent Weld Controller (5) includes main control unit (501), XYZ motion controls processing unit (502), 6 joint machines
People's control process unit (503)；The main control unit (501) includes structure light sensing processing unit (504), technique library unit
(505), movement code dissection process unit (506), communication and I/O processing units (507).
2. Intelligent welding robot according to claim 1, is further characterized in that：The robot is before work without carrying out
Path of welding is programmed, without path teaching, directly detects that weld seam carries out automatic welding, the workflow of the robot is as follows：
S1：Positioning welding starting point and welding posture；Work is manuallyd locate in the absolute coordinate system of above-mentioned Intelligent welding robot
The welding starting point and welding posture of part, set up between the absolute coordinate system and workpiece coordinate system of the Intelligent welding robot
Corresponding relation；
S2：Positioning welding fragmentation threshold node；There is individual relative position between the welding fragmentation threshold node and welding starting point
Difference, the alternate position spike has five dimensions of X, Y, Z, A, C, and wherein tri- dimensions of X, Y, Z describe the locus of welding gun (4), A, C
Two dimensions describe the welding posture of welding gun (4)；
S3：Examination is tracked and obtained in multiple welding segmented node deposit FIFO；
S4：Return to starting point and start welding；Complete after above-mentioned examination tracking process, directly sequentially obtain one from welding segmentation FIFO
Individual node is parsed into the welding that G code robot command carries out a small line segment；
S5：Complete the welding of a welding segmentation and update FIFO and memory segment G code；Complete structure light after segmentation welding
Sensor (3) detection obtains next segmented node information deposit FIFO, and the above-mentioned segment information welded is passed through into G code
Form is stored in the memory preserved to power-off；
S6：Detect no-welding-seam or reach stopping mark；
S7：Determine whether to carry out multi-layer multi-pass welding；Progress according to the welding segmentation complete duplicate paths of G code of storage is more
The welding job of layer multiple tracks, during multi-layer multi-pass welding, structured light sensor (3) shoots weld groove, passes through intelligent weldering
Connect technique library unit (505) Treatment Analysis in controller (5) and be finely adjusted required welding procedure.
3. programming Intelligent welding robot is exempted from one kind not teaching according to claim 1 or 2, it is further characterized in that：It is described
Intelligent Weld Controller (5) control process is as follows：Structure light sensing processing unit (504) processing tracking weld groove information with
G code form stores into welding segment movement code, and technique library unit (505) is by movement code combination process information, master control list
G code is resolved into timesharing interpolation segment data, described timesharing by first (501) by movement code dissection process unit (506)
The small period can be set according to process requirements situation；
Main control unit (501) is by communication and I/O processing units (507) while to XYZ motion controls processing unit (502) and 6
Articulated robot control process unit (503) sends above-mentioned timesharing interpolation segment data, realizes XYZ frames (1) and 6 joint machines
The synchronous coordination motion of device people (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710557613.9A CN107199423B (en) | 2017-07-10 | 2017-07-10 | Non-programming teaching-free intelligent welding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710557613.9A CN107199423B (en) | 2017-07-10 | 2017-07-10 | Non-programming teaching-free intelligent welding robot |
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| CN107199423A true CN107199423A (en) | 2017-09-26 |
| CN107199423B CN107199423B (en) | 2022-11-25 |
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| CN201710557613.9A Active CN107199423B (en) | 2017-07-10 | 2017-07-10 | Non-programming teaching-free intelligent welding robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109782720A (en) * | 2019-01-28 | 2019-05-21 | 唐志 | The method that control is directly realized by by process logic topological diagram |
| CN111376271A (en) * | 2020-03-31 | 2020-07-07 | 北京博清科技有限公司 | Method and device for controlling welding robot, welding robot and storage medium |
| CN112496509A (en) * | 2020-11-27 | 2021-03-16 | 国网四川省电力公司映秀湾水力发电总厂 | Portable welding operation device |
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| CN206998082U (en) * | 2017-07-10 | 2018-02-13 | 大连华锐重工数控设备有限公司 | One kind, which does not program, exempts from teaching Intelligent welding robot |
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2017
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| JP2001062566A (en) * | 1999-08-30 | 2001-03-13 | Kobe Steel Ltd | Weld line position detecting device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109782720A (en) * | 2019-01-28 | 2019-05-21 | 唐志 | The method that control is directly realized by by process logic topological diagram |
| CN111376271A (en) * | 2020-03-31 | 2020-07-07 | 北京博清科技有限公司 | Method and device for controlling welding robot, welding robot and storage medium |
| CN111376271B (en) * | 2020-03-31 | 2021-10-29 | 北京博清科技有限公司 | Method and device for controlling welding robot, welding robot and storage medium |
| CN112496509A (en) * | 2020-11-27 | 2021-03-16 | 国网四川省电力公司映秀湾水力发电总厂 | Portable welding operation device |
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| Publication number | Publication date |
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| CN107199423B (en) | 2022-11-25 |
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Effective date of registration: 20240320 Address after: 169 Bayi Road, Xigang District, Dalian, Liaoning, 116000 Patentee after: DALIAN HUARUI HEAVY INDUSTRY GROUP Co.,Ltd. Country or region after: Zhong Guo Address before: Room 201, No. 78-3, Xincement Road, Ganjingzi District, Dalian City, Liaoning Province, 116000 Patentee before: DALIAN HUARUI HEAVY INDUSTRY CNC EQUIPMENT CO.,LTD. Country or region before: Zhong Guo Patentee before: DALIAN HUARUI HEAVY INDUSTRY GROUP Co.,Ltd. |
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